SimpleDirectedControlSampler.h
108 virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest,
SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k=1)
Constructor takes the state space to construct samples for as argument Optionally,...
Definition: SimpleDirectedControlSampler.cpp:40
virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest, const Control *previous)
Samples numControlSamples_ controls, and returns the control that brings the system the closest to ta...
Definition: SimpleDirectedControlSampler.cpp:59
unsigned int numControlSamples_
The number of controls to sample when finding the best control.
Definition: SimpleDirectedControlSampler.h:211
void setNumControlSamples(unsigned int numSamples)
Set the number of controls to generate when finding the best control.
Definition: SimpleDirectedControlSampler.h:173
unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
Sample a control given that it will be applied to state state and the intention is to reach state des...
Definition: SimpleDirectedControlSampler.cpp:47
unsigned int getNumControlSamples() const
Retrieve the number of controls to generate when finding the best control.
Definition: SimpleDirectedControlSampler.h:167
A shared pointer wrapper for ompl::control::ControlSampler.
ControlSamplerPtr cs_
An instance of the control sampler.
Definition: SimpleDirectedControlSampler.h:208